5 papers
VOMMI: Collecting and Leveraging Portable Demonstrations for Mobile Manipulation
Yutian Zhang, Xingrui Xiong, Siyuan Ma +12
Portable mobile-manipulation demonstrations can help alleviate data scarcity for embodied intelligence, but obtaining reliable, low-cost, and robot-free motion supervision from RGB…
FWBC-VLA: Force-Aware Whole-Body Compensation for Contact-Rich Loco-Manipulation
Yutian Zhang, Siyuan Ma, Liwen Yang +6
Contact-rich loco-manipulation requires a bridge between semantic action generation and physical interaction control. Existing Vision-language-action (VLA) models generate task-lev…
ForeTime-VLA: Causal Future-Token Distillation from a World Action Model for Conveyor-Belt Manipulation
Siyuan Ma, Yutian Zhang, Boshi Zhang +4
Manipulating moving objects requires a policy to anticipate contact events, yet vision-language-action (VLA) policies are commonly fine-tuned from the current observation alone. Wo…
DECOWAM: Decoupled Whole-Body World-Action Model for Legged Mobile Manipulation
Siyuan Ma, Boshi Zhang, Yutian Zhang +4
Mobile manipulation requires a robot to predict how locomotion and arm motion jointly alter future observations and control. Existing world-action models, developed largely for fix…
Attributing Preprocessing Invariance in Spectral Foundation Models
Dongjun Wei, Hongyi Wu, Yinuo Zou
A spectral foundation model should remain useful when laboratories preprocess spectra differently. The standard test trains a classifier under one pipeline and evaluates under anot…